CN108470447A - A kind of traffic dispersion system and method for autonomous path planning - Google Patents
A kind of traffic dispersion system and method for autonomous path planning Download PDFInfo
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- CN108470447A CN108470447A CN201810293284.6A CN201810293284A CN108470447A CN 108470447 A CN108470447 A CN 108470447A CN 201810293284 A CN201810293284 A CN 201810293284A CN 108470447 A CN108470447 A CN 108470447A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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Abstract
The traffic dispersion system and method for autonomous path planning provided by the present application, wherein system include：The entrance in each traffic route is arranged in information of vehicles acquisition module, for obtaining the information of vehicles for entering each traffic route in preset time period, wherein the information of vehicles includes vehicle fleet size, car speed；Vehicle scheduling module is communicated to connect with the information of vehicles acquisition module, is carried out analyzing processing for obtaining the information of vehicles, and to the information of vehicles, is generated the scheduling scheme of the current vehicle of the entrance of each traffic route；Information sending module, scheduling information is sent to the facility of dredging of the current vehicle either traffic route entrance of the entrance of each traffic route according to the scheduling scheme, to enable the current vehicle of the entrance of each traffic route enter corresponding section according to the scheduling information.The present invention can in advance dredge vehicle, and when traffic congestion occurs, be scheduled to vehicle by carrying out analyzing processing to information of vehicles, can realize quickly dredging to traffic congestion.
Description
Technical field
This application involves intelligent transportation field more particularly to a kind of traffic dispersion system and method for autonomous path planning.
Background technology
With the development of science and technology, automobile is more and more welcomed by the people, and gradually incorporates people’s lives, becomes
It goes on a journey, indispensable walking-replacing tool of going to work.
With the gradual increase of quantity, automobile perplexs caused by people's daily life to be also more and more obvious.In particular, with
The increase of the urban vehicle volume of traffic, also getting worse the phenomenon that traffic congestion, on the one hand, for people safety bring it is hidden
Suffer from, on the other hand, traffic congestion influences line efficiency, to influence the working efficiency of people indirectly.
In the prior art, traffic dispersion often relies on traffic lights, is dredged in peak period, or even dependent on traffic police
It leads.But not can effectively prevent the appearance of traffic congestion phenomenon by traffic lights or traffic police, even if there is traffic congestion
Afterwards, it can not quickly dredge.
More specifically, existing to dredge why mode effectively overcome congestion, the main reason is that these modes
Current and forbidden alternating is carried out just for congestion points to control, but is not carried out the optimal of vehicle fleet size and road traffic capacity
Change matching.In fact, each road has the upper limit of its traffic capacity, within the upper limit then vehicle can with normal pass, but
If the vehicle fleet size of road is higher than the upper limit, it just will appear garage slowly and be finally evolved into congestion；In turn, congestion causes this
The vehicle fan-out capability of road weakens, and vehicle persistently inputs the increase for continuing to cause vehicle fleet size on the road, leads to the road
The congestion on road is increasingly severe.At the same time, vehicle has the characteristics that assemble to special pass path and specific destination, works as vehicle
Aggregation to a certain specific destination a certain specified link during getting congestion, periphery is other can to lead to the mesh
Ground or its attached perigean road (such as road of destination opposite direction) the unsaturated shape of traffic capacity may be still within
State.As it can be seen that in order to be effectively relieved and eliminate congestion, carry out that elicitation effect is very limited, and key is just for congestion points itself
The Scientific application for reinforcing the path resource to the direction specific destination on jam road periphery, by dredging shunting, reduction is gathered around
The vehicle input quantity of stifled road, improves traffic efficiency.Also, dredge shunting to consider congestion points peripheral path road capacity and
The influence of vehicle fleet size avoids the formation of new stifled point.
Invention content
In view of this, the purpose of the application is to propose a kind of traffic dispersion system and method for autonomous path planning, come
Solution not can effectively prevent the appearance of traffic congestion phenomenon in the prior art, even if after there is traffic congestion, it can not be quick
The technical issues of dredging, so that traffic becomes smooth.
The application dredges point range using study and feedback algorithm, according to congestion level determination, according to dredging a little and road
Conducting networks are organized in path, and dredge a little adjustment factor on vehicle fleet size and its influence by the deduction of virtual iteration, are realized
The optimization matching of congestion points nearby vehicle quantity and road traffic capacity improves the traffic efficiency of congestion points periphery entirety, most
The input vehicle fleet size of road where coordinating congestion points eventually and output vehicle fleet size, reach the target for eliminating congestion.
Based on above-mentioned purpose, in the one side of the application, it is proposed that a kind of traffic dispersion system of autonomous path planning,
Including：
The entrance in each traffic route is arranged in information of vehicles acquisition module, described in obtaining and entering in preset time period
The information of vehicles of each traffic route, wherein the information of vehicles includes vehicle fleet size, car speed；
Vehicle scheduling module is communicated to connect with the information of vehicles acquisition module, for obtaining the information of vehicles, and it is right
The information of vehicles carries out analyzing processing, generates the scheduling scheme of the current vehicle of the entrance of each traffic route；
Information sending module is either handed over according to the scheduling scheme to the current vehicle of the entrance of each traffic route
Path entrance dredge facility send scheduling information, with enable each traffic route entrance current vehicle according to the tune
It spends information and enters corresponding section.
In some embodiments, the information of vehicles acquisition module includes：
Video acquisition unit is used for collection vehicle video, and is obtained in preset time period and entered according to the automobile video frequency
The information of vehicles of each traffic route.
In some embodiments, the information of vehicles acquisition module includes：
Vehicle detection unit for carrying out edge detection to the automobile video frequency using canny edge detection operators, and carries
The image-region surrounded by closed edge is taken, and described image region is matched with pre-stored auto model, with right
Vehicle into each traffic route is identified；The vehicle for entering each traffic route within a preset period of time is determined by counting
Quantity obtains the vehicle of the traffic route preset time period Nei according to the time span of vehicle fleet size and preset time period
Speed.
In some embodiments, the information of vehicles acquisition module includes：
Information exchange unit, it is determining default by counting for carrying out information exchange with vehicle-mounted RFID or electronic license plate
Enter the vehicle fleet size and car speed of each traffic route in period.
In some embodiments, the vehicle scheduling module includes：
Information memory cell, traffic capacity threshold value and traffic capacity for storing each traffic route with it is expected that speed
Correspondence.
In some embodiments, the vehicle scheduling module, including：
Information comparison unit, the traffic capacity for obtaining each traffic route according to the information of vehicles, with the friendship
Logical capacity threshold is compared, and determines whether target traffic route is congested link.
In some embodiments, the vehicle scheduling module includes：
Scheduling scheme generation unit, for the congestion level according to congestion in road point, determining be distributed in is with the congestion points
Dredging a little within the scope of the certain space at center；And determination is dredged a little from each to whole optional paths between destination；
According to the average speed of the optional path relative to traffic capacity and the functional relation of feedback quantity, conducting networks scheduling is established
Model, wherein the traffic capacity is the estimated saturation of the optional path, and the feedback quantity is to be inputted to the optional path
The regulated quantity of vehicle fleet size；Optimization is iterated to the conducting networks scheduling model, generates scheduling scheme.
Based on above-mentioned purpose, in further aspect of the application, it is proposed that a kind of traffic dispersion side of autonomous path planning
Method, including：
Obtain the information of vehicles for entering each traffic route in preset time period, wherein the information of vehicles includes vehicle
Quantity and car speed；
The traffic capacity that each traffic route is obtained according to the information of vehicles is carried out with default road traffic capacity threshold
Comparison, determines congestion in road point；
According to the congestion level of congestion in road point, determination is distributed within the scope of the certain space centered on the congestion points
It dredges a little；And determination is dredged a little from each to whole optional paths between destination；
According to the estimated speed of the optional path relative to traffic capacity and the functional relation of feedback quantity, conduction is established
Network scheduling model, wherein the traffic capacity is the estimated saturation of the optional path, and the feedback quantity is can routing to this
The regulated quantity of the vehicle fleet size of diameter input；
Optimization is iterated to the conducting networks scheduling model, generates scheduling scheme；
According to the scheduling scheme facility is dredged to the current vehicle either traffic route entrance of target road section entrance
Dispatch command is sent, to enable the current vehicle of the target road section entrance select travel path according to the dispatch command.
In some embodiments, the estimated speed according to the optional path is relative to traffic capacity and feedback quantity
Functional relation scheduling model, including：
Establish the letter of the traffic capacity w and feedback quantity b of the estimated speed v and optional path of vehicle in each optional path
Number relationship v=f (w, b)；
Optimization is iterated to function v=f (w, b) so that the estimated speed v's of finally obtained each optional path is flat
Equal speed v ' reaches preset threshold range；
In the iterative process of each step, to improve average speed v ' as target, the estimated receiving of each optional path is adjusted
W and feedback quantity b is measured, and by the average speed v after adjustment1' compared with average speed v ', if the average speed v after adjustment1' be more than
Average speed v ', then the scheduling scheme is desirable, and continues iteration, the average speed v after n times adjustmentn' reach desired value.
In some embodiments, in different time sections, the preset desired range of values of the average speed is different.
The traffic dispersion system and method for autonomous path planning provided by the embodiments of the present application, by being carried out to information of vehicles
Analyzing processing according to dredging a little and road path tissue conducting networks, and passes through virtual iteration using study and feedback algorithm
The a little adjustment factor on vehicle fleet size and its influence are dredged in deduction, realize congestion points nearby vehicle quantity and road traffic capacity
Optimization matching, can shift to an earlier date the time formed in congestion points and vehicle is dredged in space, when traffic congestion occurs pair
The scheduling quantization that vehicle carries out is controllable, by improving the traffic efficiency of congestion points periphery entirety, final road where coordinating congestion points
The input vehicle fleet size and output vehicle fleet size on road, can realize quickly dredging to traffic congestion.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the structural schematic diagram of the traffic dispersion system of the autonomous path planning of the embodiment of the present application one；
Fig. 2 is the structural schematic diagram of the traffic dispersion system of the autonomous path planning of the embodiment of the present application two；
Fig. 3 is the flow chart of the traffic dispersion method of the autonomous path planning of the embodiment of the present application three.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, is illustrated only in attached drawing and invent relevant part with related.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As one embodiment of the application, as shown in Figure 1, being the traffic of the autonomous path planning of the embodiment of the present application one
The structural schematic diagram of persuasion system.It can be seen from the figure that the traffic dispersion system of autonomous path planning provided in this embodiment,
Including：
The entrance in each traffic route is arranged in information of vehicles acquisition module 101, enters institute in preset time period for obtaining
State the information of vehicles of each traffic route, wherein the information of vehicles includes vehicle fleet size.
In the present embodiment, the information of vehicles acquisition module 101 can be provided in the video of the entrance of traffic route
Then collecting device, such as camera are believed collected video by camera acquisition into the video information of entrance vehicle
Breath is handled, you can to obtain the information of vehicles into each traffic route.In addition, the information of vehicles acquisition module
101 can be provided in the wireless signal acquiring equipment of the entrance of traffic route, for vehicle-mounted RFID or electronic license plate etc.
Vehicle electronic device is communicated, to obtain the information of vehicles for entering each traffic route.Traffic route in this implementation is
Refer to the independent section of the not bifurcated between two crossings, the current direction in each of opposing traffic section is considered as one individual
Traffic route may be implemented in each traffic route inlet by the way that transportation network is divided into multiple traffic routes to vehicle
It is scheduled.Information of vehicles in the present embodiment is vehicle fleet size, specifically, can be by count obtain in preset time
Enter the vehicle fleet size of each traffic route in section.If the information of vehicles is video information, the edges canny can be utilized
The edge detection algorithms such as detective operators extract closure edge, and the closure edge extracted is matched with auto model, if
The closure edge is then confirmed as vehicle image by successful match, it is possible thereby to by entering the friendship in each frame video image
The vehicle image of path is counted, and determines the vehicle fleet size for entering each traffic route within a preset period of time.If institute
It is wireless signal to state information of vehicles, then can enter institute within a preset period of time according to the id information statistics carried in wireless signal
State the vehicle fleet size of each traffic route.According to the time span of vehicle fleet size and preset time period, the preset time can be obtained
The car speed of the traffic route in section, and then the congestion in the section can be weighed according to the car speed.
Vehicle scheduling module 102 is communicated to connect with the information of vehicles acquisition module, for obtaining the information of vehicles,
That is vehicle fleet size and car speed, and analyzing processing is carried out to the information of vehicles, generate the current of the entrance of each traffic route
The scheduling scheme of vehicle.
In the present embodiment, the vehicle scheduling module 102 is used in the vehicle for getting the acquisition of information of vehicles acquisition module
After information, analyzing processing is carried out to the information of vehicles, the potential congestion points in each section are obtained with analysis or are had existed
Congestion points.Due to the influence of many factors such as road width, the passage bearing capacity of every traffic route is different, by every
Difference between the vehicle fleet size and the vehicle fleet size of output of traffic route input is referred to as traffic capacity, for example, a certain traffic
The traffic capacity in path is more than predetermined threshold value, then the traffic route can be determined as potential congested link, which is to gather around
Stifled point, the predetermined threshold value are an empirical value, can be obtained according to previous data, specifically, can be in statistical history data
Congested link before formation, traffic capacity within a preset period of time can be to the multiple practical congestion forming process of statistics
In traffic capacity data be averaged, and form the predetermined threshold value of potential congested link using the average value as weighing.
In the present embodiment, during the vehicle scheduling module 102 carries out analyzing processing to the information of vehicles,
After analysis obtains vehicle fleet size, traffic capacity and the car speed of each traffic route, it can be determined according to predetermined threshold value potential
Congested link and the congested link formed are based on conducting networks principle constructor, are held with above-mentioned vehicle fleet size, traffic
Amount, vehicle speed information substitute into function as initial value, and are iterated optimization to function, scheduling scheme are formed, with according to institute
It states scheduling scheme to guide the vehicle of congestion points entrance to the smaller section of other traffic loading amounts, be gathered around with preventing and relieving traffic congestion
Stifled, the structure and iteration optimization of function refer to subsequent embodiment.
Information sending module 103, according to the scheduling scheme to the current vehicle of the entrance of each traffic route or
Be traffic route entrance dredge facility send scheduling information, with enable each traffic route entrance current vehicle according to institute
It states scheduling information and enters corresponding section.
It, can be by the dispatching party crime after the vehicle scheduling module 102 generates scheduling scheme according to information of vehicles
It send to corresponding information sending module 103, and scheduling scheme is sent to entering for each traffic route by described information sending module
The current vehicle of mouth either traffic route entrance dredges facility, such as issues vehicle GPS navigator or be intended for traffic
The vehicle guiding direction board of path inlet, traffic lights etc., with enable each traffic route entrance current vehicle according to
Scheduling information enters corresponding section.
The traffic dispersion system of autonomous path planning in the present embodiment can by carrying out analyzing processing to information of vehicles
To dredge in advance vehicle, and when traffic congestion occurs, vehicle is scheduled, can be realized to the fast of traffic congestion
Speed is dredged.
As shown in Fig. 2, being the structural schematic diagram of the traffic dispersion system of the autonomous path planning of the embodiment of the present application two.Make
Traffic dispersion system for the alternative embodiment of the application, the autonomous path planning includes information of vehicles acquisition module
201, vehicle scheduling module 202 and information sending module 203, the information of vehicles acquisition module 201, vehicle scheduling module 202
With information of vehicles acquisition module 101, vehicle scheduling module 102 and the information in information sending module 203 and above-described embodiment one
103 function of sending module is similar.
Specifically, the information of vehicles acquisition module 201, including：
Video acquisition unit 2011 is used for collection vehicle video, and is obtained in preset time period according to the automobile video frequency
Into the information of vehicles of each traffic route.The video acquisition unit 2011 can be provided in the entrance of each traffic route
The camera at place, for obtaining the information of vehicles into each traffic route.
Vehicle detection unit 2012, for carrying out edge detection to the automobile video frequency using canny edge detection operators,
And the image-region surrounded by closed edge is extracted, and described image region is matched with pre-stored auto model,
The vehicle for entering each traffic route to be identified, and determined within a preset period of time into each traffic road by counting
The vehicle fleet size of diameter can obtain the traffic in the preset time period according to the time span of vehicle fleet size and preset time period
The car speed in path.
Information exchange unit 2013, for carrying out information exchange, extraction vehicle ID etc. with vehicle-mounted RFID or electronic license plate
Information of vehicles, to count the vehicle fleet size and car speed that determine the vehicle for entering each traffic route in preset time period.
By video acquisition and information exchange, collection vehicle quantity and car speed are used as information of vehicles simultaneously, can make
Collected information of vehicles is more accurate.
The vehicle scheduling module 201, including：
Information memory cell 2011, the traffic capacity threshold value for storing each traffic route, that is, form the traffic of congestion points
Capacity threshold, for different sections, traffic capacity threshold value is different.Also, information memory cell 2011 also stores each traffic
Correspondence between the traffic capacity in path and the estimated speed of the traffic route may be used mapping table and preserve each friendship
Correspondence between the traffic capacity of path and the estimated speed of vehicle.
Information comparison unit 2012, the traffic capacity for obtaining each traffic route, described in every traffic route
Traffic capacity is compared with the traffic capacity threshold value, determines whether target traffic route is congested link.When a certain item is handed over
When the traffic capacity of path is greater than or equal to the traffic capacity threshold value, then target traffic route is determined as congested link.
When the traffic capacity be less than the traffic capacity threshold value when, and difference between the two be less than preset difference value threshold value when, then will
Target traffic route is determined as potential congested link.When the traffic capacity is less than the traffic capacity threshold value, and two
When difference between person is greater than or equal to preset difference value threshold value, then target traffic route is determined as unobstructed section.
The vehicle scheduling module 202 further includes：
Scheduling scheme generation unit 2023, for the congestion level according to congestion in road point, determination is distributed in the congestion
Dredging a little within the scope of the certain space centered on point；And determine from it is each dredge a little between destination all can routing
Diameter；According to the average speed of the optional path relative to traffic capacity and the functional relation of feedback quantity, conducting networks are established
Scheduling model, wherein the traffic capacity is the estimated saturation of the optional path, and the feedback quantity is defeated to the optional path
The regulated quantity of the vehicle fleet size entered；Optimization is iterated to the conducting networks scheduling model, generates scheduling scheme；According to described
Scheduling scheme sends dispatch command to the facility of dredging of the current vehicle either traffic route entrance of target road section entrance, to enable
The current vehicle of the target road section entrance selects travel path according to the dispatch command..
The traffic dispersion system of autonomous path planning in the present embodiment can by carrying out analyzing processing to information of vehicles
To dredge in advance vehicle, and when traffic congestion occurs, vehicle is scheduled, can be realized to the fast of traffic congestion
Speed is dredged.
As shown in figure 3, being the flow chart of the traffic dispersion method of the autonomous path planning of the embodiment of the present application three.As this
One embodiment of application, the traffic dispersion method of the autonomous path planning, includes the following steps：
S301：Obtain the information of vehicles for entering each traffic route in preset time period, wherein the information of vehicles packet
Include the vehicle fleet size.
In the present embodiment, it can be acquired by video capture device and enter each traffic route within a preset period of time
Information of vehicles, can also be communicated with vehicular communication equipment by wireless information collection equipment obtain within a preset period of time into
Enter the information of vehicles of each traffic route, the information of vehicles includes vehicle fleet size.Also, the information of vehicles further includes
The traffic capacity of car speed and traffic route；According to the time span of vehicle fleet size and preset time period, can be somebody's turn to do
The car speed of the traffic route in preset time period；According to the vehicle number of the vehicle fleet size and output of the input of every traffic route
Difference between amount obtains traffic capacity.
S302：The traffic capacity that each traffic route is obtained according to the information of vehicles, with default road traffic capacity threshold
Value is compared, and determines congestion in road point.
After obtaining information of vehicles, the traffic capacity of each traffic route can be handed over pre-set corresponding road
Logical capacity threshold is compared, and when more than or equal to the traffic capacity threshold value, then target traffic route is determined as congestion
Section.When traffic capacity be less than the traffic capacity threshold value when, and difference between the two be less than preset difference value threshold value when, then will
Target traffic route is determined as potential congested link.When the traffic capacity in the information of vehicles is less than the traffic capacity threshold value
When, and difference between the two be greater than or equal to preset difference value threshold value when, then target traffic route is determined as unobstructed section.
S303：According to the congestion level of congestion in road point, the certain space model being distributed in centered on the congestion points is determined
Dredging a little in enclosing；And determination is dredged a little from each to whole optional paths between destination；According to the pre- of optional path
Meter speed degree establishes conducting networks scheduling model relative to traffic capacity and the functional relation of feedback quantity, wherein the traffic is held
Amount is the estimated saturation in the path, and the feedback quantity is the regulated quantity of the vehicle fleet size inputted to the optional path.Wherein, institute
It states and is specially relative to the functional relation scheduling model of traffic capacity and feedback quantity according to the estimated speed of the optional path：
Establish the functional relation v of the traffic capacity w and feedback quantity b of the estimated speed v and optional path of vehicle in each optional path
=f (w, b)；Wherein, the estimated speed of vehicle is in optional path：
V=map (w)
Function map indicates the mapping relations between the traffic capacity on the car speed and the path of the optional path, such as
It is described previously, the mapping relations can be stored with the form of mapping table.
Also, the traffic capacity w of each optional path is：
Wherein, wiIndicate the traffic to each optional path of optional path input vehicle according to traffic passing rules
Capacity, biIndicate the feedback quantity to each optional path of optional path input vehicle, β according to traffic passing rulesiIt indicates
The coefficient of conductivity of each optional path of vehicle, the factor beta are inputted to the optional path according to traffic passing rulesiIt is one
With traffic capacity wiCorresponding mapping coefficient value, can pre-save the βiWith wiMapping table, k indicates all logical according to traffic
Line discipline inputs the total quantity of the optional path of vehicle to the optional path.
Average value by counting the estimated speed v of each optional path obtains average speed v '.The feedback quantity b is indicated
To the expection increase and decrease amount of the vehicle fleet size of the inlet of every optional path, as it was noted above, when vehicle fleet size is default
Between enter in section traffic route vehicle quantity, such as preset time period is 10 minutes, and vehicle fleet size is 40, then feedback quantity
B values are -5 and then indicate that the vehicle fleet size for entering the traffic route is reduced 5 in next 10 minutes preset time periods.
S304：Optimization is iterated to the scheduling model, generates scheduling scheme.
Wherein, to the function v=f (w, b) of each optional path, traffic capacity currently practical in step S301 is taken first
The function is substituted into as primary condition with car speed, and b values are set as an initial value.
In turn, it is iterated optimization, in the iterative process of each step, to improve average speed v ' as target, adjustment is each
The estimated saturation w and feedback quantity b of optional path, and by the average speed v after adjustment1' compared with average speed v ', if adjustment
Average speed v afterwards1' being more than average speed v ', then the scheduling scheme is desirable, and continues iteration, being averaged after n times adjustment
Speed vn' reach desired value, from the optimal solution for finding model.That is, changing one list of feedback quantity b values of each optional path at random
Position (for example, random one unit of b values for increasing or reducing each optional path), is recalculated each according to the b values of change
The traffic capacity w values of optional path, then according to the traffic capacity w values and the optional path of every pre-stored optional path
Estimated speed v mapping relations, obtain each optional path estimated speed v；And then it counts and obtains whole optional paths
It is expected that the average value of speed v is as average speed v1', compared with former average speed v '；If each optional path of change is each
Average speed v after the value of feedback quantity b1' being more than former average speed v ', then the scheduling scheme is effective, is relayed in next round iteration
Continuous one unit of value for adjusting each feedback quantity b in the same manner, i.e., if epicycle is increased the feedback of a certain optional path
B is measured, then next round iteration continues to increase one unit of b values of the feedback quantity, if epicycle is reduction of a certain optional path
Feedback quantity b, then next round iteration continue to reduce by one unit of b values of the feedback quantity；On the contrary, if adjustment each optional path
Make average speed v after b values1' be less than original average speed v ', then it is each to be adjusted with epicycle opposite way in next round iteration
The b values of optional path；Finally, the value for changing each feedback quantity b by iteration n wheels, makes average speed reach desired value, that is, makes
The average speed v of the estimated speed of each optional path obtained after final n times adjustmentn' reach preset threshold range.
S305：According to the scheduling scheme, i.e., final determination makes average speed vn' when reaching preset threshold range
Each optional path feedback quantity b values, to target road section entrance current vehicle either dredging for traffic route entrance set
Transmission dispatch command is applied, to enable the current vehicle of the target road section entrance according to the feedback quantity b set in the dispatch command
Value selects travel path.For example, for some optional path, if the vehicle fleet size of its entrance currently inputted is 30
, finally the feedback quantity b values of the path inlet are to increase 10, vehicle in next preset time period in determining scheduling scheme,
It can then guide in next 10 minutes that totally 40 vehicles enter the optional path by traffic dispersion direction board.
After the scheduling scheme for generating vehicle, dispatch command is sent to the vehicle of each section entrance according to scheduling scheme, is made
The vehicle of each section entrance select non-congested link traveling.
The traffic dispersion method of the autonomous path planning of the present embodiment can obtain similar with above system embodiment
Technique effect, which is not described herein again.
In some embodiments, in different time sections, the preset threshold range of the average speed is different.Due to
In different time sections, the volume of traffic on each section is different, therefore, in peak period, the threshold value of the average speed can be arranged
Less than normal, in low-valley interval, then the threshold value that the average speed can be arranged is bigger than normal.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of traffic dispersion system of autonomous path planning, which is characterized in that including：
The entrance in each traffic route is arranged in information of vehicles acquisition module, enters each friendship in preset time period for obtaining
The information of vehicles of path, wherein the information of vehicles includes vehicle fleet size, car speed；
Vehicle scheduling module is communicated to connect with the information of vehicles acquisition module, for obtaining the information of vehicles, and to described
Information of vehicles carries out analyzing processing, generates the scheduling scheme of the current vehicle of the entrance of each traffic route；
Information sending module, according to current vehicle from the scheduling scheme to the entrance of each traffic route either traffic road
The facility of dredging of diameter entrance sends scheduling information, to enable the current vehicle of the entrance of each traffic route be believed according to the scheduling
Breath enters corresponding section.
2. the traffic dispersion system of autonomous path planning according to claim 1, which is characterized in that the information of vehicles obtains
Modulus block includes：
Video acquisition unit is used for collection vehicle video, and is obtained in preset time period into described according to the automobile video frequency
The information of vehicles of each traffic route.
3. the traffic dispersion system of autonomous path planning according to claim 1, which is characterized in that the information of vehicles obtains
Modulus block includes：
Vehicle detection unit, for using canny edge detection operators to the automobile video frequency carry out edge detection, and extract by
The image-region that closed edge is surrounded, and described image region is matched with pre-stored auto model, with to entering
The vehicle of each traffic route is identified；The vehicle number for entering each traffic route within a preset period of time is determined by counting
Amount, according to the time span of vehicle fleet size and preset time period, obtains the car speed of the traffic route preset time period Nei.
4. the traffic dispersion system of autonomous path planning according to claim 1, which is characterized in that the information of vehicles obtains
Modulus block includes：
Information exchange unit determines preset time for carrying out information exchange with vehicle-mounted RFID or electronic license plate by counting
Enter the vehicle fleet size and car speed of each traffic route in section.
5. the traffic dispersion system of autonomous path planning according to claim 1, which is characterized in that the vehicle scheduling mould
Block includes：
Information memory cell, traffic capacity threshold value and traffic capacity for storing each traffic route with it is expected that speed pair
It should be related to.
6. the traffic dispersion system of autonomous path planning according to claim 1, which is characterized in that the vehicle scheduling mould
Block includes：
Information comparison unit, the traffic capacity for obtaining each traffic route according to the information of vehicles are held with the traffic
Amount threshold value is compared, and determines whether target traffic route is congested link.
7. the traffic dispersion system of autonomous path planning according to claim 1, which is characterized in that the vehicle scheduling mould
Block includes：
Scheduling scheme generation unit, for the congestion level according to congestion in road point, determination is distributed in centered on the congestion points
Certain space within the scope of dredge a little；And determination is dredged a little from each to whole optional paths between destination；According to
The average speed of the optional path establishes conducting networks scheduling mould relative to traffic capacity and the functional relation of feedback quantity
Type, wherein the traffic capacity is the estimated saturation of the optional path, and the feedback quantity is the vehicle inputted to the optional path
The regulated quantity of quantity；Optimization is iterated to the conducting networks scheduling model, generates scheduling scheme.
8. a kind of traffic dispersion method of autonomous path planning, which is characterized in that including：
Obtain the information of vehicles for entering each traffic route in preset time period, wherein the information of vehicles includes vehicle number
Amount and car speed；
The traffic capacity that each traffic route is obtained according to the information of vehicles carries out pair with default road traffic capacity threshold
Than determining congestion in road point；
According to the congestion level of congestion in road point, determination is distributed in dredging within the scope of the certain space centered on the congestion points
Point；And determination is dredged a little from each to whole optional paths between destination；
According to the estimated speed of the optional path relative to traffic capacity and the functional relation of feedback quantity, conducting networks are established
Scheduling model, wherein the traffic capacity is the estimated saturation of the optional path, and the feedback quantity is defeated to the optional path
The regulated quantity of the vehicle fleet size entered；
Optimization is iterated to the conducting networks scheduling model, generates scheduling scheme；
It is sent to the facility of dredging of the current vehicle either traffic route entrance of target road section entrance according to the scheduling scheme
Dispatch command, to enable the current vehicle of the target road section entrance select travel path according to the dispatch command.
9. the traffic dispersion method of autonomous path planning according to claim 8, which is characterized in that can described in the basis
The estimated speed of routing diameter relative to traffic capacity and the functional relation scheduling model of feedback quantity, including：
The function for establishing the traffic capacity w and feedback quantity b of the estimated speed v and optional path of vehicle in each optional path closes
It is v=f (w, b)；
Optimization is iterated to function v=f (w, b) so that the average speed of the estimated speed v of finally obtained each optional path
Degree v ' reaches preset threshold range；
In the iterative process of each step, to improve average speed v ' as target, adjust the estimated saturation w of each optional path with
Feedback quantity b, and by the average speed v after adjustment1' compared with average speed v ', if the average speed v after adjustment1' be more than averagely
Speed v ', then the scheduling scheme is desirable, and continues iteration, the average speed v after n times adjustmentn' reach desired value.
10. the traffic dispersion method of autonomous path planning according to claim 8, which is characterized in that in different time sections,
The preset desired range of values of the average speed is different.
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